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SIIA Público
SISTEMA INTEGRAL DE INFORMACIÓN ACADÉMICA - PÚBLICO
Título del libro: Proceedings - 2010 Ieee Electronics, Robotics And Automotive Mechanics Conference, Cerma 2010 Título del capítulo: Real Time Object Recognition Methodology
3D object; ART networks; Descriptors; Fast learning; Fuzzy ARTMAP; Intelligent manufacturing cell; Learning techniques; Neuronal networks; On-line recognition; Real-time object recognition; Robotic tasks; Single stage; Step-by-step; Unstructured environments; Visual perception; Algorithms; Automobile electronic equipment; Automobile parts and equipment; Flexible manufacturing systems; Industrial robots; Intelligent robots; Mechanics; Neural networks; Object recognition; Robotics; Vectors; Robotic assembly
Resumen:
This paper shows a methodology for on-line recognition and
classification of pieces in robotic assembly tasks and its application
into an intelligent manufacturing cell. The performance of industrial
robots working in unstructured environments can be improved using visual
perception and learning techniques The object recognition is
accomplished using a neuronal network with FuzzyARTMAP architecture for
learning and recognition purposes, which receives a descriptor vector
called CFD&POSE as the input. This vector represents an innovative
methodology for classification and identification of pieces in robotic
tasks, every single stage of the methodology, is described step by step
and the proposed algorithms explained. The vector compresses 3D object
data from assembly parts and is invariant to scale, rotation and
orientation. The approach in combination with the fast learning
capability of ART networks indicates the suitability for industrial
robot applications as it is shown in experimental results and the
possibility to add concatenated information into the descriptor vector
to achieve a much more robust methodology.